Elena Arcari — accepted AI-conference papers

2023

Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation

Elena Arcari, Maria Vittoria Minniti, Anna Scampicchio, Andrea Carron, Farbod Farshidian, Marco Hutter +1

RA-L 2023

Mobile manipulation in robotics is challenging due to the need to solve many diverse tasks, such as opening a door or picking-and-placing an object. Typically, a basic first-principles system description of the robot is available, thus motivating the use of model-based controllers. However, the robo

Cited by 56 Source ↗Scholar ↗

2022

Contextual Tuning of Model Predictive Control for Autonomous Racing

Lukas P. Fröhlich, Christian Küttel, Elena Arcari, Lukas Hewing, Melanie N. Zeilinger, Andrea Carron

IROS 2022poster

Learning-based model predictive control has been widely applied in autonomous racing to improve the closed-loop behaviour of vehicles in a data-driven manner. When environmental conditions change, e.g., due to rain, often only the predictive model is adapted, but the controller parameters are kept c…

Cited by 27 Source ↗Scholar ↗

2019

Data-Driven Model Predictive Control for Trajectory Tracking With a Robotic Arm

Andrea Carron, Elena Arcari, Martin Wermelinger, Lukas Hewing, Marco Hutter, Melanie N. Zeilinger

RA-L 2019

High-precision trajectory tracking is fundamental in robotic manipulation. While industrial robots address this through stiffness and high-performance hardware, compliant and cost-effective robots require advanced control to achieve accurate position tracking. In this letter, we present a model-base

Cited by 219 Source ↗Scholar ↗